﻿using System;
using System.Collections.Generic;
using UWB_SP_TO_SOCKET.src.Twr.Model;

/************************************************************************************
     * 版权所有(c) 2020  保留所有权利。
     * CLR版本： 4.0.30319.42000
     * 机器名称：DESKTOP-VLH6HNS
     * 公司名称：
     * 命名空间：UWB_SP_TO_SOCKET.src.Twr.Tool
     * 文件名：  RealitySerialPortData
     * 版本号：  V1.0.0.0
     * 唯一标识：29e21efd-770d-43d4-ae01-b73d1a603c2e
     * 当前的用户域：DESKTOP-VLH6HNS
     * 创建人：  Minuy
     * 电子邮箱：minuy17@163.com
     * 创建时间：2020/10/21 15:29:24
     * 描述：
     * =====================================================================
     * 修改时间：2020/10/21 15:29:24
     * 修改人  ： 
     * 版本号  ： V1.0.0.0
     * 描述    ：
    *************************************************************************************/
namespace UWB_SP_TO_SOCKET.src.Twr.Tool
{

    class RealitySerialPortData
    {
        /// <summary>
        /// 当前信息
        /// </summary>
        VirtualenvInfo vi;

        /// <summary>
        /// 缓存长度
        /// </summary>
        static int cacheLength = 1024;
        /// <summary>
        /// 有效帧长度
        /// </summary>
        static int frameLength = 14;

        Vec3dInfo resultBest;
        Vec3dInfo result1;
        Vec3dInfo result2;

        public ulong calculateTimes = 0;
        public ulong failedTimes = 0;

        public RealitySerialPortData()
        {
            vi = new VirtualenvInfo();
        }

        int indexL = 0;
        int indexH = 0;

        public VirtualenvInfo DataSimulate()
        {
            return DataSimulate(1)[0];
        }
        public List<VirtualenvInfo> DataSimulate(int number)
        {
            List<VirtualenvInfo> vis = new List<VirtualenvInfo>();
            int i = 0;
            byte[] sda = new byte[2];
            for (int s = 0; s < number; s++)
            {
                if (indexH >= serialData.Length / 16)
                {
                    indexH = 0;
                }

                for (i = 0; i < 8; i++)
                {
                    sda[0] = serialData[indexH, indexL++];
                    sda[1] = serialData[indexH, indexL++];
                    if (indexL >= 16)
                    {
                        indexH++;
                        indexL = 0;
                    }
                    newData(sda);
                }
                vi.trueCount = 3;
                vis.Add(vi);

            }
            return vis;
        }

        /// <summary>
        /// 读取标记
        /// </summary>
        uint storePos = 0, readPos = 0, dataPos, usartState = 0;
        /// <summary>
        /// 串口接收缓存
        /// </summary>
        byte[] cache = new byte[cacheLength];
        /// <summary>
        /// 串口接收到的数据帧
        /// </summary>
        byte[] frame = new byte[frameLength];
        /// <summary>
        /// 新数据上传到电脑时调用，串口收到的数据传这里
        /// </summary>
        /// <param name="data">数据</param>
        private void newData(byte[] data)
        {
            byte tmp;

            //缓存数据
            for (int i = 0; i < data.Length; i++)
            {
                cache[storePos++] = data[i];
                if (storePos >= cacheLength)
                {
                    storePos = 0;
                }
            }

            //处理数据
            while (storePos != readPos)
            {
                //读出一个数据
                tmp = cache[readPos++];
                if (readPos >= cacheLength)
                {
                    readPos = 0;
                }

                switch (usartState)
                {
                    case 0:
                        if (tmp == 'm')
                        {
                            usartState = 1;
                        }
                        break;

                    case 1:
                        if (tmp == 'r')
                        {
                            usartState = 2;
                            dataPos = 0;
                        }
                        break;

                    case 2:
                        frame[dataPos++] = tmp;
                        if (dataPos > 11)
                        {
                            usartState = 0;
                            //处理速度
                            StructureData(frame);
                        }
                        break;
                    default:
                        break;
                }
            }
        }

        void CalculateTagLocation(VirtualenvInfo vi)
        {
            //目标点
            Vec3dInfo tag = new Vec3dInfo();
            //锚点
            Vec3dInfo[] anchorArray = new Vec3dInfo[4];
            //锚点到目标点的距离
            int[] radius = new int[4];
            //计算出来的解
            result1 = new Vec3dInfo();
            result2 = new Vec3dInfo();
            resultBest = new Vec3dInfo();

            for (int i = 0; i < 4; i++)
            {
                //锚点位置
                anchorArray[i] = new Vec3dInfo();
                anchorArray[i].x = vi.anchor[i].x;
                anchorArray[i].y = vi.anchor[i].y;
                anchorArray[i].z = vi.anchor[i].z;

                //半径
                radius[i] = (int)vi.r[i];
            }

            /*-----------------根据数据计算结果-----------------*/

            calculateTimes++;
            int rCode = FunctionTrilateration.GetLocation(ref resultBest, ref result1, ref result2, vi.trueCount, ref anchorArray, ref radius);
            if (rCode == FunctionTrilateration.TRIL_3SPHERES)
            {
                //解算成功
                LogOut("解1：(" + result1.x.ToString("0.00") + "," + result1.y.ToString("0.00") + "," + result1.z.ToString("0.00") + ")");
                LogOut("解2：(" + result2.x.ToString("0.00") + "," + result2.y.ToString("0.00") + "," + result2.z.ToString("0.00") + ")");
                LogOut("目标位置：(" + resultBest.x.ToString("0.00") + "," + resultBest.y.ToString("0.00") + "," + resultBest.z.ToString("0.00") + ")");

                vi.tag = resultBest;
                vi.isDispose = true;

            }
            else
            {
                //解算失败
                failedTimes++;
                LogOut("第" + failedTimes + "次解算失败！");
            }

            this.vi = vi;

            LogOut("\n" + vi.ToString());
            /*-----------------计算结果完成-----------------*/
            LogOut("\n统计：\t计算次数：" + calculateTimes + "  \t失败次数：" + failedTimes);
            LogOut("--------------------------------------------------------------------------\n\n\n");
        }

        private void LogOut(string p)
        {
            //Console.WriteLine(p);
        }
        /// <summary>
        /// 处理数据，构建原始数据
        /// </summary>
        private void StructureData(byte[] frame)
        {
            UwbRawInfo uInfo = new UwbRawInfo();

            //传入原始帧
            uInfo.frame = frame;

            //获取帧类型
            uInfo.frameType = frame[0];
            //获取目标点ID
            uInfo.tagId = frame[1];
            //获取数量
            uInfo.lnum = (uint)((uint)frame[2] | ((uint)frame[3] << 8));
            //获取序列号
            uInfo.seq = (byte)(((byte)uInfo.lnum) & 0xff);

            if (uInfo.frameType == 1)//如果是锚点帧
            {
                uInfo.rRaw[0] = (uint)((uint)frame[6] | ((uint)frame[7] << 8));
                uInfo.rRaw[1] = (uint)((uint)frame[8] | ((uint)frame[9] << 8));
                uInfo.rRaw[2] = (uint)((uint)frame[10] | ((uint)frame[11] << 8));
                uInfo.rRaw[0] = uInfo.rRaw[0] * 10;
                uInfo.rRaw[1] = uInfo.rRaw[1] * 10;
                uInfo.rRaw[2] = uInfo.rRaw[2] * 10;
            }
            else if (uInfo.frameType == 2)//如果是目标帧
            {
                uInfo.rRaw[0] = (uint)((uint)frame[4] | ((uint)frame[5] << 8));
                uInfo.rRaw[1] = (uint)((uint)frame[6] | ((uint)frame[7] << 8));
                uInfo.rRaw[2] = (uint)((uint)frame[8] | ((uint)frame[9] << 8));
                uInfo.rRaw[3] = (uint)((uint)frame[10] | ((uint)frame[11] << 8));
                uInfo.r[0] = uInfo.rRaw[0] * 10;
                uInfo.r[1] = uInfo.rRaw[1] * 10;
                uInfo.r[2] = uInfo.rRaw[2] * 10;
                uInfo.r[3] = uInfo.rRaw[3] * 10;
                TransitionInfo(uInfo);
            }
        }

        /// <summary>
        /// 转换信息，构建处理模型
        /// </summary>
        /// <param name="ui">原始数据</param>
        private void TransitionInfo(UwbRawInfo ui)
        {
            //构建模型
            VirtualenvInfo vi = new VirtualenvInfo();

            vi.isDispose = false;//标记没有被处理
            vi.seq = ui.seq;//标记序列号
            vi.tagId = ui.tagId;//转储ID

            //转存ID
            for (int i = 0; i < ui.r.Length; i++)
            {
                vi.r[i] = ui.r[i];
            }

            //判断锚点的数量
            if (vi.r[3] != 0)
            {
                vi.trueCount = 4;
            }
            else
            {
                vi.trueCount = 3;
            }

            vi.anchor = GetAnchorsInfo();

            //处理数据
            CalculateTagLocation(vi);
        }

        private static Vec3dInfo[] GetAnchorsInfo()
        {
            Vec3dInfo[] anchorArray = new Vec3dInfo[4];


            anchorArray[0] = new Vec3dInfo();
            anchorArray[0].x = 1.43f;
            anchorArray[0].y = 2.51f;
            anchorArray[0].z = 0.92f;

            anchorArray[1] = new Vec3dInfo();
            anchorArray[1].x = 4.82f;
            anchorArray[1].y = 2.73f;
            anchorArray[1].z = 0.93f;

            anchorArray[2] = new Vec3dInfo();
            anchorArray[2].x = 1.52f;
            anchorArray[2].y = 7.31f;
            anchorArray[2].z = 0.95f;

            anchorArray[3] = new Vec3dInfo();
            anchorArray[3].x = 1.52f;
            anchorArray[3].y = 7.31f;
            anchorArray[3].z = 0.95f;

            return anchorArray;
        }

        private static void processTagRangeReport(int id, byte TAG_ID, uint p2, uint lnum, byte seq)
        {
            //处理目标点界面
        }

        /// <summary>
        /// 缓存模拟数据
        /// </summary>
        static byte[,] serialData = new byte[1225, 16] {
                {0x6D ,0x72 ,0x02 ,0x05 ,0xBA ,0x67 ,0x91 ,0x00 ,0x6E ,0x01 ,0x26 ,0x02 ,0x91 ,0x00 ,0x0A ,0xDB},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xBB ,0x67 ,0x8F ,0x00 ,0x6F ,0x01 ,0x26 ,0x02 ,0x8F ,0x00 ,0x0A ,0x8B},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xBC ,0x67 ,0x8F ,0x00 ,0x6E ,0x01 ,0x27 ,0x02 ,0x8F ,0x00 ,0x0A ,0xB0},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xBD ,0x67 ,0x90 ,0x00 ,0x6E ,0x01 ,0x29 ,0x02 ,0x90 ,0x00 ,0x0A ,0xB4},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xBE ,0x67 ,0x8E ,0x00 ,0x6E ,0x01 ,0x29 ,0x02 ,0x8E ,0x00 ,0x0A ,0x82},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xBF ,0x67 ,0x8E ,0x00 ,0x70 ,0x01 ,0x2B ,0x02 ,0x8E ,0x00 ,0x0A ,0xBC},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xC0 ,0x67 ,0x94 ,0x00 ,0x71 ,0x01 ,0x29 ,0x02 ,0x94 ,0x00 ,0x0A ,0xA0},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xC1 ,0x67 ,0x91 ,0x00 ,0x71 ,0x01 ,0x2A ,0x02 ,0x91 ,0x00 ,0x0A ,0x97},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xC2 ,0x67 ,0x91 ,0x00 ,0x6E ,0x01 ,0x29 ,0x02 ,0x91 ,0x00 ,0x0A ,0x9F},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xC3 ,0x67 ,0x8A ,0x00 ,0x6E ,0x01 ,0x29 ,0x02 ,0x8A ,0x00 ,0x0A ,0xA7},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xC4 ,0x67 ,0x8C ,0x00 ,0x6E ,0x01 ,0x28 ,0x02 ,0x8C ,0x00 ,0x0A ,0x8F},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xC5 ,0x67 ,0x8C ,0x00 ,0x73 ,0x01 ,0x27 ,0x02 ,0x8C ,0x00 ,0x0A ,0xBF},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xC6 ,0x67 ,0x8F ,0x00 ,0x73 ,0x01 ,0x28 ,0x02 ,0x8F ,0x00 ,0x0A ,0xD9},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xC7 ,0x67 ,0x8F ,0x00 ,0x71 ,0x01 ,0x28 ,0x02 ,0x8F ,0x00 ,0x0A ,0x3C},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xC8 ,0x67 ,0x8F ,0x00 ,0x6F ,0x01 ,0x24 ,0x02 ,0x8F ,0x00 ,0x0A ,0xE8},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xC9 ,0x67 ,0x8B ,0x00 ,0x71 ,0x01 ,0x24 ,0x02 ,0x8B ,0x00 ,0x0A ,0xDA},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xCA ,0x67 ,0x8C ,0x00 ,0x72 ,0x01 ,0x26 ,0x02 ,0x8C ,0x00 ,0x0A ,0x22},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xCB ,0x67 ,0x8C ,0x00 ,0x72 ,0x01 ,0x2C ,0x02 ,0x8C ,0x00 ,0x0A ,0xE1},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xCC ,0x67 ,0x8C ,0x00 ,0x72 ,0x01 ,0x28 ,0x02 ,0x8C ,0x00 ,0x0A ,0x5B},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xCD ,0x67 ,0x8A ,0x00 ,0x72 ,0x01 ,0x28 ,0x02 ,0x8A ,0x00 ,0x0A ,0xCF},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xCE ,0x67 ,0x8C ,0x00 ,0x73 ,0x01 ,0x26 ,0x02 ,0x8C ,0x00 ,0x0A ,0x9D},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xCF ,0x67 ,0x8C ,0x00 ,0x70 ,0x01 ,0x26 ,0x02 ,0x8C ,0x00 ,0x0A ,0xAD},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xD0 ,0x67 ,0x8C ,0x00 ,0x6C ,0x01 ,0x26 ,0x02 ,0x8C ,0x00 ,0x0A ,0xAF},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xD1 ,0x67 ,0x8D ,0x00 ,0x6A ,0x01 ,0x28 ,0x02 ,0x8D ,0x00 ,0x0A ,0xA5},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xD2 ,0x67 ,0x8B ,0x00 ,0x6C ,0x01 ,0x28 ,0x02 ,0x8B ,0x00 ,0x0A ,0x57},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xD3 ,0x67 ,0x8C ,0x00 ,0x6E ,0x01 ,0x28 ,0x02 ,0x8C ,0x00 ,0x0A ,0x59},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xD4 ,0x67 ,0x8B ,0x00 ,0x6E ,0x01 ,0x23 ,0x02 ,0x8B ,0x00 ,0x0A ,0xF8},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xD5 ,0x67 ,0x8A ,0x00 ,0x6F ,0x01 ,0x23 ,0x02 ,0x8A ,0x00 ,0x0A ,0x34},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xD6 ,0x67 ,0x8A ,0x00 ,0x6F ,0x01 ,0x23 ,0x02 ,0x8A ,0x00 ,0x0A ,0xCD},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xD7 ,0x67 ,0x8A ,0x00 ,0x6F ,0x01 ,0x25 ,0x02 ,0x8A ,0x00 ,0x0A ,0x0B},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xD8 ,0x67 ,0x8A ,0x00 ,0x72 ,0x01 ,0x25 ,0x02 ,0x8A ,0x00 ,0x0A ,0x81},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xD9 ,0x67 ,0x8A ,0x00 ,0x72 ,0x01 ,0x27 ,0x02 ,0x8A ,0x00 ,0x0A ,0x57},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xDA ,0x67 ,0x8B ,0x00 ,0x6D ,0x01 ,0x27 ,0x02 ,0x8B ,0x00 ,0x0A ,0xB2},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xDB ,0x67 ,0x95 ,0x00 ,0x70 ,0x01 ,0x27 ,0x02 ,0x95 ,0x00 ,0x0A ,0xB1},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xDC ,0x67 ,0x8D ,0x00 ,0x6C ,0x01 ,0x29 ,0x02 ,0x8D ,0x00 ,0x0A ,0xF9},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xDD ,0x67 ,0x8E ,0x00 ,0x67 ,0x01 ,0x29 ,0x02 ,0x8E ,0x00 ,0x0A ,0x4A},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xDE ,0x67 ,0x87 ,0x00 ,0x6C ,0x01 ,0x29 ,0x02 ,0x87 ,0x00 ,0x0A ,0x18},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xDF ,0x67 ,0x8F ,0x00 ,0x6F ,0x01 ,0x26 ,0x02 ,0x8F ,0x00 ,0x0A ,0xDC},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xE0 ,0x67 ,0x8F ,0x00 ,0x74 ,0x01 ,0x23 ,0x02 ,0x8F ,0x00 ,0x0A ,0x39},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xE1 ,0x67 ,0x8C ,0x00 ,0x70 ,0x01 ,0x26 ,0x02 ,0x8C ,0x00 ,0x0A ,0x26},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xE2 ,0x67 ,0x8C ,0x00 ,0x70 ,0x01 ,0x29 ,0x02 ,0x8C ,0x00 ,0x0A ,0x23},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xE3 ,0x67 ,0x8D ,0x00 ,0x70 ,0x01 ,0x27 ,0x02 ,0x8D ,0x00 ,0x0A ,0xE8},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xE4 ,0x67 ,0x91 ,0x00 ,0x70 ,0x01 ,0x28 ,0x02 ,0x91 ,0x00 ,0x0A ,0x33},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xE5 ,0x67 ,0x8D ,0x00 ,0x6D ,0x01 ,0x28 ,0x02 ,0x8D ,0x00 ,0x0A ,0x72},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xE6 ,0x67 ,0x8C ,0x00 ,0x67 ,0x01 ,0x29 ,0x02 ,0x8C ,0x00 ,0x0A ,0xB9},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xE7 ,0x67 ,0x8A ,0x00 ,0x6B ,0x01 ,0x29 ,0x02 ,0x8A ,0x00 ,0x0A ,0xBB},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xE8 ,0x67 ,0x8B ,0x00 ,0x6D ,0x01 ,0x29 ,0x02 ,0x8B ,0x00 ,0x0A ,0x5B},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xE9 ,0x67 ,0x8B ,0x00 ,0x74 ,0x01 ,0x26 ,0x02 ,0x8B ,0x00 ,0x0A ,0x09},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xEA ,0x67 ,0x8B ,0x00 ,0x6E ,0x01 ,0x2A ,0x02 ,0x8B ,0x00 ,0x0A ,0xD2},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xEB ,0x67 ,0x8C ,0x00 ,0x6E ,0x01 ,0x2A ,0x02 ,0x8C ,0x00 ,0x0A ,0xEE},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xEC ,0x67 ,0x8C ,0x00 ,0x69 ,0x01 ,0x2A ,0x02 ,0x8C ,0x00 ,0x0A ,0xDF},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xED ,0x67 ,0x8C ,0x00 ,0x6C ,0x01 ,0x2A ,0x02 ,0x8C ,0x00 ,0x0A ,0xAD},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xEE ,0x67 ,0x8C ,0x00 ,0x6C ,0x01 ,0x26 ,0x02 ,0x8C ,0x00 ,0x0A ,0xE1},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xEF ,0x67 ,0x8A ,0x00 ,0x6C ,0x01 ,0x22 ,0x02 ,0x8A ,0x00 ,0x0A ,0xEC},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xF0 ,0x67 ,0x85 ,0x00 ,0x6D ,0x01 ,0x1E ,0x02 ,0x85 ,0x00 ,0x0A ,0xE5},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xF1 ,0x67 ,0x8A ,0x00 ,0x6D ,0x01 ,0x1E ,0x02 ,0x8A ,0x00 ,0x0A ,0xD7},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xF2 ,0x67 ,0x8A ,0x00 ,0x6D ,0x01 ,0x1E ,0x02 ,0x8A ,0x00 ,0x0A ,0xA7},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xF3 ,0x67 ,0x8B ,0x00 ,0x6C ,0x01 ,0x1E ,0x02 ,0x8B ,0x00 ,0x0A ,0x88},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xF4 ,0x67 ,0x8A ,0x00 ,0x6C ,0x01 ,0x20 ,0x02 ,0x8A ,0x00 ,0x0A ,0xE9},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xF5 ,0x67 ,0x8A ,0x00 ,0x6C ,0x01 ,0x25 ,0x02 ,0x8A ,0x00 ,0x0A ,0x55},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xF6 ,0x67 ,0x88 ,0x00 ,0x6C ,0x01 ,0x20 ,0x02 ,0x88 ,0x00 ,0x0A ,0x3F},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xF7 ,0x67 ,0x88 ,0x00 ,0x67 ,0x01 ,0x1F ,0x02 ,0x88 ,0x00 ,0x0A ,0x4B},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xF8 ,0x67 ,0x8A ,0x00 ,0x5F ,0x01 ,0x19 ,0x02 ,0x8A ,0x00 ,0x0A ,0xB8},
                {0x6D ,0x72 ,0x02 ,0x05 ,0xF9 ,0x67 ,0x8D ,0x00 ,0x65 ,0x01 ,0x1B ,0x02 ,0x8D ,0x00 ,0x0A ,0x17},
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                {0x6D ,0x72 ,0x02 ,0x05 ,0x52 ,0x6C ,0x81 ,0x00 ,0x76 ,0x01 ,0x2E ,0x02 ,0x81 ,0x00 ,0x0A ,0x0F},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x53 ,0x6C ,0x81 ,0x00 ,0x76 ,0x01 ,0x2C ,0x02 ,0x81 ,0x00 ,0x0A ,0xD5},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x54 ,0x6C ,0x85 ,0x00 ,0x76 ,0x01 ,0x2C ,0x02 ,0x85 ,0x00 ,0x0A ,0xFD},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x55 ,0x6C ,0x84 ,0x00 ,0x75 ,0x01 ,0x2C ,0x02 ,0x84 ,0x00 ,0x0A ,0xEC},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x56 ,0x6C ,0x85 ,0x00 ,0x75 ,0x01 ,0x2B ,0x02 ,0x85 ,0x00 ,0x0A ,0xFA},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x57 ,0x6C ,0x84 ,0x00 ,0x75 ,0x01 ,0x25 ,0x02 ,0x84 ,0x00 ,0x0A ,0x3D},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x58 ,0x6C ,0x82 ,0x00 ,0x76 ,0x01 ,0x2B ,0x02 ,0x82 ,0x00 ,0x0A ,0x2B},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x59 ,0x6C ,0x82 ,0x00 ,0x76 ,0x01 ,0x2A ,0x02 ,0x82 ,0x00 ,0x0A ,0x3D},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x5A ,0x6C ,0x82 ,0x00 ,0x76 ,0x01 ,0x2A ,0x02 ,0x82 ,0x00 ,0x0A ,0xC2},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x5B ,0x6C ,0x83 ,0x00 ,0x77 ,0x01 ,0x29 ,0x02 ,0x83 ,0x00 ,0x0A ,0x91},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x5C ,0x6C ,0x82 ,0x00 ,0x77 ,0x01 ,0x29 ,0x02 ,0x82 ,0x00 ,0x0A ,0x1C},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x5D ,0x6C ,0x81 ,0x00 ,0x76 ,0x01 ,0x29 ,0x02 ,0x81 ,0x00 ,0x0A ,0xF4},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x5E ,0x6C ,0x7F ,0x00 ,0x76 ,0x01 ,0x29 ,0x02 ,0x7F ,0x00 ,0x0A ,0xE4},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x5F ,0x6C ,0x80 ,0x00 ,0x75 ,0x01 ,0x26 ,0x02 ,0x80 ,0x00 ,0x0A ,0xEA},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x60 ,0x6C ,0x80 ,0x00 ,0x76 ,0x01 ,0x1B ,0x02 ,0x80 ,0x00 ,0x0A ,0xE8},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x61 ,0x6C ,0x80 ,0x00 ,0x75 ,0x01 ,0x27 ,0x02 ,0x80 ,0x00 ,0x0A ,0x2D},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x62 ,0x6C ,0x82 ,0x00 ,0x75 ,0x01 ,0x32 ,0x02 ,0x82 ,0x00 ,0x0A ,0x84},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x63 ,0x6C ,0x82 ,0x00 ,0x75 ,0x01 ,0x32 ,0x02 ,0x82 ,0x00 ,0x0A ,0xD6},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x64 ,0x6C ,0x81 ,0x00 ,0x78 ,0x01 ,0x29 ,0x02 ,0x81 ,0x00 ,0x0A ,0xFA},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x65 ,0x6C ,0x81 ,0x00 ,0x78 ,0x01 ,0x29 ,0x02 ,0x81 ,0x00 ,0x0A ,0xA4},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x66 ,0x6C ,0x81 ,0x00 ,0x77 ,0x01 ,0x2B ,0x02 ,0x81 ,0x00 ,0x0A ,0xE7},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x67 ,0x6C ,0x89 ,0x00 ,0x76 ,0x01 ,0x29 ,0x02 ,0x89 ,0x00 ,0x0A ,0xEC},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x68 ,0x6C ,0x87 ,0x00 ,0x77 ,0x01 ,0x28 ,0x02 ,0x87 ,0x00 ,0x0A ,0xB5},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x69 ,0x6C ,0x87 ,0x00 ,0x76 ,0x01 ,0x2D ,0x02 ,0x87 ,0x00 ,0x0A ,0x66},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x6A ,0x6C ,0x83 ,0x00 ,0x76 ,0x01 ,0x2A ,0x02 ,0x83 ,0x00 ,0x0A ,0xC1},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x6B ,0x6C ,0x84 ,0x00 ,0x74 ,0x01 ,0x2D ,0x02 ,0x84 ,0x00 ,0x0A ,0x0B},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x6C ,0x6C ,0x83 ,0x00 ,0x72 ,0x01 ,0x27 ,0x02 ,0x83 ,0x00 ,0x0A ,0x25},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x6D ,0x6C ,0x84 ,0x00 ,0x74 ,0x01 ,0x2B ,0x02 ,0x84 ,0x00 ,0x0A ,0x61},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x6E ,0x6C ,0x83 ,0x00 ,0x75 ,0x01 ,0x29 ,0x02 ,0x83 ,0x00 ,0x0A ,0x28},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x6F ,0x6C ,0x83 ,0x00 ,0x77 ,0x01 ,0x2B ,0x02 ,0x83 ,0x00 ,0x0A ,0x45},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x70 ,0x6C ,0x87 ,0x00 ,0x78 ,0x01 ,0x27 ,0x02 ,0x87 ,0x00 ,0x0A ,0x46},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x71 ,0x6C ,0x86 ,0x00 ,0x78 ,0x01 ,0x29 ,0x02 ,0x86 ,0x00 ,0x0A ,0xB4},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x72 ,0x6C ,0x85 ,0x00 ,0x78 ,0x01 ,0x24 ,0x02 ,0x85 ,0x00 ,0x0A ,0x5C},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x73 ,0x6C ,0x7F ,0x00 ,0x77 ,0x01 ,0x28 ,0x02 ,0x7F ,0x00 ,0x0A ,0xAD},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x74 ,0x6C ,0x7F ,0x00 ,0x75 ,0x01 ,0x28 ,0x02 ,0x7F ,0x00 ,0x0A ,0xBA},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x75 ,0x6C ,0x82 ,0x00 ,0x75 ,0x01 ,0x29 ,0x02 ,0x82 ,0x00 ,0x0A ,0x20},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x76 ,0x6C ,0x82 ,0x00 ,0x74 ,0x01 ,0x29 ,0x02 ,0x82 ,0x00 ,0x0A ,0x1E},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x77 ,0x6C ,0x82 ,0x00 ,0x75 ,0x01 ,0x29 ,0x02 ,0x82 ,0x00 ,0x0A ,0x95},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x78 ,0x6C ,0x7D ,0x00 ,0x76 ,0x01 ,0x28 ,0x02 ,0x7D ,0x00 ,0x0A ,0x7B},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x79 ,0x6C ,0x78 ,0x00 ,0x76 ,0x01 ,0x28 ,0x02 ,0x78 ,0x00 ,0x0A ,0x8C},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x7A ,0x6C ,0x7F ,0x00 ,0x76 ,0x01 ,0x2D ,0x02 ,0x7F ,0x00 ,0x0A ,0xC0},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x7B ,0x6C ,0x84 ,0x00 ,0x75 ,0x01 ,0x2E ,0x02 ,0x84 ,0x00 ,0x0A ,0x1C},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x7C ,0x6C ,0x89 ,0x00 ,0x78 ,0x01 ,0x29 ,0x02 ,0x89 ,0x00 ,0x0A ,0x8E},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x7D ,0x6C ,0x84 ,0x00 ,0x75 ,0x01 ,0x29 ,0x02 ,0x84 ,0x00 ,0x0A ,0x32},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x7E ,0x6C ,0x84 ,0x00 ,0x74 ,0x01 ,0x33 ,0x02 ,0x84 ,0x00 ,0x0A ,0xFC},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x7F ,0x6C ,0x7F ,0x00 ,0x74 ,0x01 ,0x33 ,0x02 ,0x7F ,0x00 ,0x0A ,0xE4},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x80 ,0x6C ,0x82 ,0x00 ,0x77 ,0x01 ,0x29 ,0x02 ,0x82 ,0x00 ,0x0A ,0x35},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x81 ,0x6C ,0x82 ,0x00 ,0x7B ,0x01 ,0x18 ,0x02 ,0x82 ,0x00 ,0x0A ,0x70},
                {0x6D ,0x72 ,0x02 ,0x05 ,0x82 ,0x6C ,0x82 ,0x00 ,0x78 ,0x01 ,0x27 ,0x02 ,0x82 ,0x00 ,0x0A ,0xCC}
                };


        public static bool isPut { get; set; }
    }
}
